| #ifndef __DEVICECONFIGCLIENT_H__
|
| #define __DEVICECONFIGCLIENT_H__
|
|
|
| #include <string>
|
| #include <future>
|
| #include <functional>
|
| #include <exception>
|
| #include "messages/Frame.pb.h"
|
| #include "messages/DeviceConfig.pb.h"
|
|
|
| #include "common/Frame.h"
|
| #include "client/IRouterClient.h"
|
| #include "client/NotificationHandler.h"
|
|
|
| #if __cplusplus >= 201402L
|
| #define DEPRECATED [[ deprecated ]]
|
| #define DEPRECATED_MSG(msg) [[ deprecated(msg) ]]
|
| #elif defined(__GNUC__)
|
| #define DEPRECATED __attribute__ ((deprecated))
|
| #define DEPRECATED_MSG(msg) __attribute__ ((deprecated(msg)))
|
| #elif defined(_MSC_VER)
|
| #define DEPRECATED __declspec(deprecated)
|
| #define DEPRECATED_MSG(msg) __declspec(deprecated(msg))
|
| #else
|
| #define DEPRECATED
|
| #define DEPRECATED_MSG
|
| #endif
|
| namespace Kinova
|
| {
|
| namespace Api
|
| {
|
| namespace DeviceConfig
|
| {
|
|
|
| const std::string none = "";
|
|
|
| enum FunctionUids
|
| {
|
| eUidGetRunMode = 0x90001,
|
| eUidSetRunMode = 0x90002,
|
| eUidGetDeviceType = 0x90003,
|
| eUidGetFirmwareVersion = 0x90004,
|
| eUidGetBootloaderVersion = 0x90005,
|
| eUidGetModelNumber = 0x90006,
|
| eUidGetPartNumber = 0x90007,
|
| eUidGetSerialNumber = 0x90008,
|
| eUidGetMACAddress = 0x90009,
|
| eUidGetIPv4Settings = 0x9000a,
|
| eUidSetIPv4Settings = 0x9000b,
|
| eUidGetPartNumberRevision = 0x9000c,
|
| eUidRebootRequest = 0x9000e,
|
| eUidSetSafetyEnable = 0x9000f,
|
| eUidSetSafetyErrorThreshold = 0x90010,
|
| eUidSetSafetyWarningThreshold = 0x90011,
|
| eUidSetSafetyConfiguration = 0x90012,
|
| eUidGetSafetyConfiguration = 0x90013,
|
| eUidGetSafetyInformation = 0x90014,
|
| eUidGetSafetyEnable = 0x90015,
|
| eUidGetSafetyStatus = 0x90016,
|
| eUidClearAllSafetyStatus = 0x90017,
|
| eUidClearSafetyStatus = 0x90018,
|
| eUidGetAllSafetyConfiguration = 0x90019,
|
| eUidGetAllSafetyInformation = 0x9001a,
|
| eUidResetSafetyDefaults = 0x9001b,
|
| eUidSafetyTopic = 0x9001c,
|
| eUidExecuteCalibration = 0x90022,
|
| eUidGetCalibrationResult = 0x90023,
|
| eUidStopCalibration = 0x90024,
|
| eUidSetCapSenseConfig = 0x90025,
|
| eUidGetCapSenseConfig = 0x90026,
|
| eUidReadCapSenseRegister = 0x90027,
|
| eUidWriteCapSenseRegister = 0x90028,
|
| };
|
|
|
| class DeviceConfigClient
|
| {
|
| static const uint32_t m_serviceVersion = 1;
|
| static const uint32_t m_serviceId = eIdDeviceConfig;
|
| NotificationHandler m_notificationHandler;
|
|
|
| protected:
|
| IRouterClient* const m_clientRouter;
|
|
|
| public:
|
| DeviceConfigClient(IRouterClient* clientRouter);
|
| static uint32_t getUniqueFctId(uint16_t fctId);
|
|
|
| RunMode GetRunMode(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetRunMode_callback(std::function< void (const Error&, const RunMode&) > callback, uint32_t deviceId = 0);
|
| std::future<RunMode> GetRunMode_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetRunMode(const RunMode& runmode, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetRunMode_callback(const RunMode& runmode, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetRunMode_async(const RunMode& runmode, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| DeviceType GetDeviceType(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetDeviceType_callback(std::function< void (const Error&, const DeviceType&) > callback, uint32_t deviceId = 0);
|
| std::future<DeviceType> GetDeviceType_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| FirmwareVersion GetFirmwareVersion(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetFirmwareVersion_callback(std::function< void (const Error&, const FirmwareVersion&) > callback, uint32_t deviceId = 0);
|
| std::future<FirmwareVersion> GetFirmwareVersion_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| BootloaderVersion GetBootloaderVersion(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetBootloaderVersion_callback(std::function< void (const Error&, const BootloaderVersion&) > callback, uint32_t deviceId = 0);
|
| std::future<BootloaderVersion> GetBootloaderVersion_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| ModelNumber GetModelNumber(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetModelNumber_callback(std::function< void (const Error&, const ModelNumber&) > callback, uint32_t deviceId = 0);
|
| std::future<ModelNumber> GetModelNumber_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| PartNumber GetPartNumber(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetPartNumber_callback(std::function< void (const Error&, const PartNumber&) > callback, uint32_t deviceId = 0);
|
| std::future<PartNumber> GetPartNumber_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| SerialNumber GetSerialNumber(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetSerialNumber_callback(std::function< void (const Error&, const SerialNumber&) > callback, uint32_t deviceId = 0);
|
| std::future<SerialNumber> GetSerialNumber_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| MACAddress GetMACAddress(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetMACAddress_callback(std::function< void (const Error&, const MACAddress&) > callback, uint32_t deviceId = 0);
|
| std::future<MACAddress> GetMACAddress_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| IPv4Settings GetIPv4Settings(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetIPv4Settings_callback(std::function< void (const Error&, const IPv4Settings&) > callback, uint32_t deviceId = 0);
|
| std::future<IPv4Settings> GetIPv4Settings_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetIPv4Settings(const IPv4Settings& ipv4settings, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetIPv4Settings_callback(const IPv4Settings& ipv4settings, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetIPv4Settings_async(const IPv4Settings& ipv4settings, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| PartNumberRevision GetPartNumberRevision(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetPartNumberRevision_callback(std::function< void (const Error&, const PartNumberRevision&) > callback, uint32_t deviceId = 0);
|
| std::future<PartNumberRevision> GetPartNumberRevision_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void RebootRequest(const RebootRqst& rebootrqst, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void RebootRequest_callback(const RebootRqst& rebootrqst, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> RebootRequest_async(const RebootRqst& rebootrqst, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetSafetyEnable(const SafetyEnable& safetyenable, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetSafetyEnable_callback(const SafetyEnable& safetyenable, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetSafetyEnable_async(const SafetyEnable& safetyenable, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetSafetyErrorThreshold(const SafetyThreshold& safetythreshold, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetSafetyErrorThreshold_callback(const SafetyThreshold& safetythreshold, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetSafetyErrorThreshold_async(const SafetyThreshold& safetythreshold, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetSafetyWarningThreshold(const SafetyThreshold& safetythreshold, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetSafetyWarningThreshold_callback(const SafetyThreshold& safetythreshold, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetSafetyWarningThreshold_async(const SafetyThreshold& safetythreshold, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetSafetyConfiguration(const SafetyConfiguration& safetyconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetSafetyConfiguration_callback(const SafetyConfiguration& safetyconfiguration, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetSafetyConfiguration_async(const SafetyConfiguration& safetyconfiguration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| SafetyConfiguration GetSafetyConfiguration(const Kinova::Api::Common::SafetyHandle& safetyhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetSafetyConfiguration_callback(const Kinova::Api::Common::SafetyHandle& safetyhandle, std::function< void (const Error&, const SafetyConfiguration&) > callback, uint32_t deviceId = 0);
|
| std::future<SafetyConfiguration> GetSafetyConfiguration_async(const Kinova::Api::Common::SafetyHandle& safetyhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| SafetyInformation GetSafetyInformation(const Kinova::Api::Common::SafetyHandle& safetyhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetSafetyInformation_callback(const Kinova::Api::Common::SafetyHandle& safetyhandle, std::function< void (const Error&, const SafetyInformation&) > callback, uint32_t deviceId = 0);
|
| std::future<SafetyInformation> GetSafetyInformation_async(const Kinova::Api::Common::SafetyHandle& safetyhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| SafetyEnable GetSafetyEnable(const Kinova::Api::Common::SafetyHandle& safetyhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetSafetyEnable_callback(const Kinova::Api::Common::SafetyHandle& safetyhandle, std::function< void (const Error&, const SafetyEnable&) > callback, uint32_t deviceId = 0);
|
| std::future<SafetyEnable> GetSafetyEnable_async(const Kinova::Api::Common::SafetyHandle& safetyhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| SafetyStatus GetSafetyStatus(const Kinova::Api::Common::SafetyHandle& safetyhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetSafetyStatus_callback(const Kinova::Api::Common::SafetyHandle& safetyhandle, std::function< void (const Error&, const SafetyStatus&) > callback, uint32_t deviceId = 0);
|
| std::future<SafetyStatus> GetSafetyStatus_async(const Kinova::Api::Common::SafetyHandle& safetyhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void ClearAllSafetyStatus(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ClearAllSafetyStatus_callback(std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> ClearAllSafetyStatus_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void ClearSafetyStatus(const Kinova::Api::Common::SafetyHandle& safetyhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ClearSafetyStatus_callback(const Kinova::Api::Common::SafetyHandle& safetyhandle, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> ClearSafetyStatus_async(const Kinova::Api::Common::SafetyHandle& safetyhandle, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| SafetyConfigurationList GetAllSafetyConfiguration(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetAllSafetyConfiguration_callback(std::function< void (const Error&, const SafetyConfigurationList&) > callback, uint32_t deviceId = 0);
|
| std::future<SafetyConfigurationList> GetAllSafetyConfiguration_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| SafetyInformationList GetAllSafetyInformation(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetAllSafetyInformation_callback(std::function< void (const Error&, const SafetyInformationList&) > callback, uint32_t deviceId = 0);
|
| std::future<SafetyInformationList> GetAllSafetyInformation_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void ResetSafetyDefaults(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ResetSafetyDefaults_callback(std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> ResetSafetyDefaults_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| Kinova::Api::Common::NotificationHandle OnNotificationSafetyTopic(std::function< void (Kinova::Api::Common::SafetyNotification) > callback, const Kinova::Api::Common::NotificationOptions& notificationoptions, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void ExecuteCalibration(const Calibration& calibration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ExecuteCalibration_callback(const Calibration& calibration, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> ExecuteCalibration_async(const Calibration& calibration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| CalibrationResult GetCalibrationResult(const CalibrationElement& calibrationelement, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetCalibrationResult_callback(const CalibrationElement& calibrationelement, std::function< void (const Error&, const CalibrationResult&) > callback, uint32_t deviceId = 0);
|
| std::future<CalibrationResult> GetCalibrationResult_async(const CalibrationElement& calibrationelement, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| CalibrationResult StopCalibration(const Calibration& calibration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void StopCalibration_callback(const Calibration& calibration, std::function< void (const Error&, const CalibrationResult&) > callback, uint32_t deviceId = 0);
|
| std::future<CalibrationResult> StopCalibration_async(const Calibration& calibration, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void SetCapSenseConfig(const CapSenseConfig& capsenseconfig, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void SetCapSenseConfig_callback(const CapSenseConfig& capsenseconfig, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> SetCapSenseConfig_async(const CapSenseConfig& capsenseconfig, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| CapSenseConfig GetCapSenseConfig(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void GetCapSenseConfig_callback(std::function< void (const Error&, const CapSenseConfig&) > callback, uint32_t deviceId = 0);
|
| std::future<CapSenseConfig> GetCapSenseConfig_async(uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| CapSenseRegister ReadCapSenseRegister(const CapSenseRegister& capsenseregister, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void ReadCapSenseRegister_callback(const CapSenseRegister& capsenseregister, std::function< void (const Error&, const CapSenseRegister&) > callback, uint32_t deviceId = 0);
|
| std::future<CapSenseRegister> ReadCapSenseRegister_async(const CapSenseRegister& capsenseregister, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
| void WriteCapSenseRegister(const CapSenseRegister& capsenseregister, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
| void WriteCapSenseRegister_callback(const CapSenseRegister& capsenseregister, std::function< void (const Error&) > callback, uint32_t deviceId = 0);
|
| std::future<void> WriteCapSenseRegister_async(const CapSenseRegister& capsenseregister, uint32_t deviceId = 0, const RouterClientSendOptions& options = {false, 0, 3000});
|
|
|
|
|
| private:
|
| void messageHeaderValidation(const Frame& msgFrame){ }
|
| };
|
| }
|
| }
|
| }
|
|
|
| #endif |
